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C4 GP 2007 EGS Gearbox Actuator/Clutch issue

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I've had a good browse here but cant find a specific answer to my problem but apologise if duplicating.
When cold I find my car judders terrible when in reverse, especially on a slight uphill slope. Also judders when pulling away. Both issues get better when engine warmer.
I have tried the "hard reset" to calibrate the clutch as suggested here but no help with these issues. Has been suggested that my actuator fluid could be contaminated. Is this possible? or is it my clutch? there is no slip that i notice whilst driving.
If actuator fluid, is this a possible diy job as seems to be some conflict on this??

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